MBDyn-1.7.3
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ElasticJointInv Class Reference

#include <vehj3.h>

Inheritance diagram for ElasticJointInv:
Collaboration diagram for ElasticJointInv:

Public Member Functions

 ElasticJointInv (unsigned int uL, const DofOwner *pDO, const ConstitutiveLaw6D *pCL, const StructNode *pN1, const StructNode *pN2, const Vec3 &tilde_f1, const Vec3 &tilde_f2, const Mat3x3 &tilde_R1h, const Mat3x3 &tilde_R2h, const OrientationDescription &od, flag fOut)
 
 ~ElasticJointInv (void)
 
virtual ConstLawType::Type GetConstLawType (void) const
 
virtual void AfterConvergence (const VectorHandler &X, const VectorHandler &XP)
 
virtual void AssMats (VariableSubMatrixHandler &WorkMatA, VariableSubMatrixHandler &WorkMatB, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
 
virtual void AfterPredict (VectorHandler &X, VectorHandler &XP)
 
virtual void InitialWorkSpaceDim (integer *piNumRows, integer *piNumCols) const
 
virtual VariableSubMatrixHandlerInitialAssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)
 
- Public Member Functions inherited from Elem
 Elem (unsigned int uL, flag fOut)
 
virtual ~Elem (void)
 
virtual std::ostream & DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const
 
virtual void DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const
 
virtual std::ostream & DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const
 
virtual void DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const
 
void SetInverseDynamicsFlags (unsigned uIDF)
 
unsigned GetInverseDynamicsFlags (void) const
 
bool bIsErgonomy (void) const
 
bool bIsRightHandSide (void) const
 
virtual VariableSubMatrixHandlerAssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)
 
virtual int GetNumConnectedNodes (void) const
 
- Public Member Functions inherited from WithLabel
 WithLabel (unsigned int uL=0, const std::string &sN="")
 
virtual ~WithLabel (void)
 
void PutLabel (unsigned int uL)
 
void PutName (const std::string &sN)
 
unsigned int GetLabel (void) const
 
const std::string & GetName (void) const
 
- Public Member Functions inherited from SimulationEntity
 SimulationEntity (void)
 
virtual ~SimulationEntity (void)
 
virtual bool bIsValidIndex (unsigned int i) const
 
virtual DofOrder::Order GetEqType (unsigned int i) const
 
virtual void BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const
 
virtual void Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
 
virtual void DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
 
virtual void AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP)
 
virtual void ReadInitialState (MBDynParser &HP)
 
- Public Member Functions inherited from ToBeOutput
 ToBeOutput (flag fOut=fDefaultOut)
 
virtual ~ToBeOutput (void)
 
virtual void Output (OutputHandler &OH, const VectorHandler &X, const VectorHandler &XP) const
 
virtual flag fToBeOutput (void) const
 
virtual bool bToBeOutput (void) const
 
virtual void SetOutputFlag (flag f=flag(1))
 
- Public Member Functions inherited from DeformableJoint
 DeformableJoint (unsigned int uL, const DofOwner *pDO, const ConstitutiveLaw6D *pCL, const StructNode *pN1, const StructNode *pN2, const Vec3 &tilde_f1, const Vec3 &tilde_f2, const Mat3x3 &tilde_R1h, const Mat3x3 &tilde_R2h, const OrientationDescription &od, flag fOut)
 
virtual ~DeformableJoint (void)
 
virtual Joint::Type GetJointType (void) const
 
virtual std::ostream & Restart (std::ostream &out) const
 
void OutputPrepare (OutputHandler &OH)
 
virtual void Output (OutputHandler &OH) const
 
void SetValue (DataManager *pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints *ph=0)
 
virtual HintParseHint (DataManager *pDM, const char *s) const
 
virtual bool bInverseDynamics (void) const
 
virtual unsigned int iGetNumDof (void) const
 
virtual DofOrder::Order GetDofType (unsigned int) const
 
virtual void WorkSpaceDim (integer *piNumRows, integer *piNumCols) const
 
virtual unsigned int iGetInitialNumDof (void) const
 
virtual unsigned int iGetNumPrivData (void) const
 
virtual unsigned int iGetPrivDataIdx (const char *s) const
 
virtual doublereal dGetPrivData (unsigned int i) const
 
virtual void GetConnectedNodes (std::vector< const Node * > &connectedNodes) const
 
virtual VariableSubMatrixHandlerAssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
 
virtual SubVectorHandlerAssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
 
SubVectorHandlerAssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr, const VectorHandler &XPrimePrimeCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)
 
virtual SubVectorHandlerInitialAssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr)
 
- Public Member Functions inherited from Joint
 Joint (unsigned int uL, const DofOwner *pD, flag fOut)
 
virtual ~Joint (void)
 
virtual Elem::Type GetElemType (void) const
 
std::ostream & Output (std::ostream &out, const char *sJointName, unsigned int uLabel, const Vec3 &FLocal, const Vec3 &MLocal, const Vec3 &FGlobal, const Vec3 &MGlobal) const
 
virtual void SetInitialValue (VectorHandler &)
 
virtual void Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)
 
bool bIsPrescribedMotion (void) const
 
bool bIsTorque (void) const
 
- Public Member Functions inherited from ElemGravityOwner
 ElemGravityOwner (unsigned int uL, flag fOut)
 
virtual ~ElemGravityOwner (void)
 
virtual doublereal dGetM (void) const
 
Vec3 GetS (void) const
 
Mat3x3 GetJ (void) const
 
Vec3 GetB (void) const
 
Vec3 GetG (void) const
 
- Public Member Functions inherited from GravityOwner
 GravityOwner (void)
 
virtual ~GravityOwner (void)
 
void PutGravity (const Gravity *pG)
 
virtual bool bGetGravity (const Vec3 &X, Vec3 &Acc) const
 
- Public Member Functions inherited from ElemWithDofs
 ElemWithDofs (unsigned int uL, const DofOwner *pDO, flag fOut)
 
virtual ~ElemWithDofs (void)
 
- Public Member Functions inherited from DofOwnerOwner
 DofOwnerOwner (const DofOwner *pDO)
 
virtual ~DofOwnerOwner ()
 
virtual const DofOwnerpGetDofOwner (void) const
 
virtual integer iGetFirstIndex (void) const
 
- Public Member Functions inherited from InitialAssemblyElem
 InitialAssemblyElem (unsigned int uL, flag fOut)
 
virtual ~InitialAssemblyElem (void)
 
- Public Member Functions inherited from SubjectToInitialAssembly
 SubjectToInitialAssembly (void)
 
virtual ~SubjectToInitialAssembly (void)
 
- Public Member Functions inherited from ConstitutiveLawOwner< T, Tder >
 ConstitutiveLawOwner (const ConstitutiveLaw< T, Tder > *pCL)
 
virtual ~ConstitutiveLawOwner (void)
 
ConstitutiveLaw< T, Tder > * pGetConstLaw (void) const
 
void Update (const T &Eps, const T &EpsPrime=mb_zero< T >())
 
void AfterConvergence (const T &Eps, const T &EpsPrime=mb_zero< T >())
 
const T & GetF (void) const
 
const Tder & GetFDE (void) const
 
const Tder & GetFDEPrime (void) const
 
virtual std::ostream & DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const
 
virtual void DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const
 
virtual std::ostream & DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const
 
virtual void DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const
 
virtual std::ostream & OutputAppend (std::ostream &out) const
 

Protected Member Functions

void AssMats (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef)
 
void AssVec (SubVectorHandler &WorkVec)
 
- Protected Member Functions inherited from DeformableJoint
void AssMatCommon (FullSubMatrixHandler &WM, doublereal dCoef)
 
void AssMatElastic (FullSubMatrixHandler &WM, doublereal dCoef, const Mat6x6 &FDE)
 
void AssMatViscous (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef, const Mat6x6 &FDEPrime)
 
- Protected Member Functions inherited from Joint
virtual void OutputPrepare_int (const std::string &type, OutputHandler &OH, std::string &name)
 
- Protected Member Functions inherited from ElemGravityOwner
virtual Vec3 GetS_int (void) const
 
virtual Mat3x3 GetJ_int (void) const
 
virtual Vec3 GetB_int (void) const
 
virtual Vec3 GetG_int (void) const
 

Protected Attributes

Vec3 ThetaRef
 
Mat6x6 FDE
 
- Protected Attributes inherited from WithLabel
unsigned int uLabel
 
std::string sName
 
- Protected Attributes inherited from ToBeOutput
flag fOutput
 
- Protected Attributes inherited from DeformableJoint
const StructNodepNode1
 
const StructNodepNode2
 
Vec3 tilde_f1
 
Vec3 tilde_f2
 
Mat3x3 tilde_R1h
 
Mat3x3 tilde_R2h
 
OrientationDescription od
 
Vec6 tilde_k
 
Vec6 tilde_kPrime
 
bool bFirstRes
 
Vec3 d1
 
Vec3 d2
 
Vec3 d1Prime
 
Vec3 d2Prime
 
Mat3x3 R1h
 
Vec6 F
 
- Protected Attributes inherited from GravityOwner
GravitypGravity
 
- Protected Attributes inherited from ConstitutiveLawOwner< T, Tder >
ConstitutiveLaw< T, Tder > * pConstLaw
 

Additional Inherited Members

- Public Types inherited from Elem
enum  Type {
  UNKNOWN = -1, AIRPROPERTIES = 0, INDUCEDVELOCITY, AUTOMATICSTRUCTURAL,
  GRAVITY, BODY, JOINT, JOINT_REGULARIZATION,
  BEAM, PLATE, FORCE, INERTIA,
  ELECTRICBULK, ELECTRIC, THERMAL, HYDRAULIC,
  BULK, LOADABLE, DRIVEN, EXTERNAL,
  AEROMODAL, AERODYNAMIC, GENEL, SOCKETSTREAM_OUTPUT,
  RTAI_OUTPUT = SOCKETSTREAM_OUTPUT, LASTELEMTYPE
}
 
- Public Types inherited from SimulationEntity
typedef std::vector< Hint * > Hints
 
- Public Types inherited from ToBeOutput
enum  { OUTPUT = 0x1U, OUTPUT_MASK = 0xFU, OUTPUT_PRIVATE = 0x10U, OUTPUT_PRIVATE_MASK = ~OUTPUT_MASK }
 
- Public Types inherited from Joint
enum  Type {
  UNKNOWN = -1, DISTANCE = 0, DISTANCEWITHOFFSET, CLAMP,
  SPHERICALHINGE, PIN, UNIVERSALHINGE, UNIVERSALROTATION,
  UNIVERSALPIN, PLANEHINGE, PLANEROTATION, PLANEPIN,
  AXIALROTATION, PLANEDISP, PLANEDISPPIN, INPLANE,
  INPLANECONTACT, J_INLINE, ROD, RODBEZIER,
  DEFORMABLEHINGE, DEFORMABLEDISPJOINT, DEFORMABLEJOINT, DEFORMABLEAXIALJOINT,
  VISCOUSBODY, LINEARVELOCITY, ANGULARVELOCITY, LINEARACCELERATION,
  ANGULARACCELERATION, PRISMATIC, DRIVEHINGE, DRIVEDISP,
  DRIVEDISPPIN, IMPOSEDORIENTATION, IMPOSEDDISP, IMPOSEDDISPPIN,
  IMPOSEDKINEMATICS, BEAMSLIDER, BRAKE, GIMBAL,
  POINT_SURFACE_CONTACT, TOTALJOINT, TOTALPINJOINT, TOTALEQUATION,
  TOTALREACTION, MODAL, SCREWJOINT, LASTJOINTTYPE
}
 

Detailed Description

Definition at line 317 of file vehj3.h.

Constructor & Destructor Documentation

ElasticJointInv::ElasticJointInv ( unsigned int  uL,
const DofOwner pDO,
const ConstitutiveLaw6D pCL,
const StructNode pN1,
const StructNode pN2,
const Vec3 tilde_f1,
const Vec3 tilde_f2,
const Mat3x3 tilde_R1h,
const Mat3x3 tilde_R2h,
const OrientationDescription od,
flag  fOut 
)

Definition at line 1014 of file vehj3.cc.

References FDE, ConstitutiveLawOwner< T, Tder >::GetFDE(), MultRMRt(), and DeformableJoint::R1h.

1025 : Elem(uL, fOut),
1026 DeformableJoint(uL, pDO, pCL, pN1, pN2, tilde_f1, tilde_f2, tilde_R1h, tilde_R2h, od, fOut),
1027 ThetaRef(Zero3)
1028 {
1029  /*
1030  * Chiede la matrice tangente di riferimento
1031  * e la porta nel sistema globale
1032  */
1034 }
Mat3x3 MultRMRt(const Mat3x3 &m, const Mat3x3 &R)
Definition: matvec3.cc:1162
const Vec3 Zero3(0., 0., 0.)
OrientationDescription od
Definition: vehj3.h:53
Mat6x6 FDE
Definition: vehj3.h:321
const Tder & GetFDE(void) const
Definition: constltp.h:298
Mat3x3 R1h
Definition: vehj3.h:74
Vec3 ThetaRef
Definition: vehj3.h:319
Elem(unsigned int uL, flag fOut)
Definition: elem.cc:41
DeformableJoint(unsigned int uL, const DofOwner *pDO, const ConstitutiveLaw6D *pCL, const StructNode *pN1, const StructNode *pN2, const Vec3 &tilde_f1, const Vec3 &tilde_f2, const Mat3x3 &tilde_R1h, const Mat3x3 &tilde_R2h, const OrientationDescription &od, flag fOut)
Definition: vehj3.cc:57

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ElasticJointInv::~ElasticJointInv ( void  )

Definition at line 1036 of file vehj3.cc.

References NO_OP.

1037 {
1038  NO_OP;
1039 }
#define NO_OP
Definition: myassert.h:74

Member Function Documentation

void ElasticJointInv::AfterConvergence ( const VectorHandler X,
const VectorHandler XP 
)
virtual

Reimplemented from SimulationEntity.

Definition at line 1042 of file vehj3.cc.

References ConstitutiveLawOwner< T, Tder >::AfterConvergence(), and DeformableJoint::tilde_k.

1044 {
1046 }
Vec6 tilde_k
Definition: vehj3.h:56
void AfterConvergence(const T &Eps, const T &EpsPrime=mb_zero< T >())
Definition: constltp.h:288

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void ElasticJointInv::AfterPredict ( VectorHandler X,
VectorHandler XP 
)
virtual

Reimplemented from SimulationEntity.

Definition at line 1126 of file vehj3.cc.

References DeformableJoint::bFirstRes, DeformableJoint::d1, DeformableJoint::d2, RotManip::DRot_I(), FDE, ConstitutiveLawOwner< T, Tder >::GetFDE(), StructNode::GetRCurr(), StructNode::GetRRef(), StructDispNode::GetXCurr(), Mat3x3::MulTM(), MultRMRtGammam1(), Mat3x3::MulTV(), DeformableJoint::pNode1, DeformableJoint::pNode2, DeformableJoint::R1h, RotManip::Rot(), ThetaRef, DeformableJoint::tilde_f1, DeformableJoint::tilde_f2, DeformableJoint::tilde_k, DeformableJoint::tilde_R1h, DeformableJoint::tilde_R2h, ConstitutiveLawOwner< T, Tder >::Update(), and RotManip::VecRot().

1128 {
1129  /* Calcola le deformazioni, aggiorna il legame costitutivo
1130  * e crea la FDE */
1131 
1132  /* Recupera i dati */
1133  R1h = pNode1->GetRRef()*tilde_R1h;
1134 
1135  /* Calcola la deformazione corrente nel sistema locale (nodo a) */
1137 
1138  /* Calcola l'inversa di Gamma di ThetaRef */
1139  Mat3x3 GammaRefm1 = RotManip::DRot_I(ThetaRef);
1140 
1141  Mat3x3 hat_R(R1h*RotManip::Rot(ThetaRef/2.));
1142 
1143  d1 = pNode1->GetRCurr()*tilde_f1;
1144  d2 = pNode2->GetRRef()*tilde_f2;
1145  Vec3 d = pNode2->GetXCurr() + d2 - pNode1->GetXCurr() - d1;
1146 
1147  tilde_k = Vec6(hat_R.MulTV(d), ThetaRef);
1148 
1149  /* Aggiorna il legame costitutivo */
1151 
1152  /* Chiede la matrice tangente di riferimento e la porta
1153  * nel sistema globale */
1155  MultRMRtGammam1(FDE, R1h, GammaRefm1);
1156 
1157  bFirstRes = true;
1158 }
virtual const Mat3x3 & GetRRef(void) const
Definition: strnode.h:1006
Definition: matvec3.h:98
Vec6 tilde_k
Definition: vehj3.h:56
virtual const Mat3x3 & GetRCurr(void) const
Definition: strnode.h:1012
Mat3x3 tilde_R2h
Definition: vehj3.h:51
Mat6x6 FDE
Definition: vehj3.h:321
const Tder & GetFDE(void) const
Definition: constltp.h:298
Vec3 tilde_f2
Definition: vehj3.h:49
Mat3x3 R1h
Definition: vehj3.h:74
Vec3 VecRot(const Mat3x3 &Phi)
Definition: Rot.cc:136
Mat3x3 tilde_R1h
Definition: vehj3.h:50
Definition: matvec6.h:37
Mat3x3 Rot(const Vec3 &phi)
Definition: Rot.cc:62
Mat3x3 MulTM(const Mat3x3 &m) const
Definition: matvec3.cc:500
Vec3 tilde_f1
Definition: vehj3.h:48
virtual const Vec3 & GetXCurr(void) const
Definition: strnode.h:310
static void MultRMRtGammam1(Mat6x6 &M, const Mat3x3 &R, const Mat3x3 &Gammam1)
Definition: vehj3.cc:44
Vec3 ThetaRef
Definition: vehj3.h:319
const StructNode * pNode2
Definition: vehj3.h:47
void Update(const T &Eps, const T &EpsPrime=mb_zero< T >())
Definition: constltp.h:283
const StructNode * pNode1
Definition: vehj3.h:46
bool bFirstRes
Definition: vehj3.h:70
Mat3x3 DRot_I(const Vec3 &phi)
Definition: Rot.cc:111

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void ElasticJointInv::AssMats ( FullSubMatrixHandler WMA,
FullSubMatrixHandler WMB,
doublereal  dCoef 
)
protectedvirtual

Implements DeformableJoint.

Definition at line 1082 of file vehj3.cc.

References DeformableJoint::AssMatCommon(), DeformableJoint::AssMatElastic(), and FDE.

Referenced by AssMats(), and InitialAssJac().

1085 {
1086  AssMatCommon(WMA, dCoef);
1087  AssMatElastic(WMA, dCoef, FDE);
1088 }
void AssMatElastic(FullSubMatrixHandler &WM, doublereal dCoef, const Mat6x6 &FDE)
Definition: vehj3.cc:490
Mat6x6 FDE
Definition: vehj3.h:321
void AssMatCommon(FullSubMatrixHandler &WM, doublereal dCoef)
Definition: vehj3.cc:461

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void ElasticJointInv::AssMats ( VariableSubMatrixHandler WorkMatA,
VariableSubMatrixHandler WorkMatB,
const VectorHandler XCurr,
const VectorHandler XPrimeCurr 
)
virtual

Reimplemented from Elem.

Definition at line 1050 of file vehj3.cc.

References AssMats(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), DeformableJoint::pNode1, DeformableJoint::pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), VariableSubMatrixHandler::SetNullMatrix(), and Elem::WorkSpaceDim().

1054 {
1055  FullSubMatrixHandler& WMA = WorkMatA.SetFull();
1056  WorkMatB.SetNullMatrix();
1057 
1058  /* Dimensiona e resetta la matrice di lavoro */
1059  integer iNumRows = 0;
1060  integer iNumCols = 0;
1061  WorkSpaceDim(&iNumRows, &iNumCols);
1062  WMA.ResizeReset(iNumRows, iNumCols);
1063 
1064  /* Recupera gli indici */
1065  integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
1066  integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
1067  integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
1068  integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
1069 
1070  /* Setta gli indici della matrice */
1071  for (int iCnt = 1; iCnt <= 6; iCnt++) {
1072  WMA.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
1073  WMA.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
1074  WMA.PutRowIndex(6 + iCnt, iNode2FirstMomIndex + iCnt);
1075  WMA.PutColIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
1076  }
1077 
1078  AssMats(WMA, WMA, 1.);
1079 }
void PutColIndex(integer iSubCol, integer iCol)
Definition: submat.h:325
FullSubMatrixHandler & SetFull(void)
Definition: submat.h:1168
void AssMats(FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef)
Definition: vehj3.cc:1082
void SetNullMatrix(void)
Definition: submat.h:1159
virtual integer iGetFirstMomentumIndex(void) const =0
virtual integer iGetFirstPositionIndex(void) const
Definition: strnode.h:452
virtual void ResizeReset(integer, integer)
Definition: submat.cc:182
void PutRowIndex(integer iSubRow, integer iRow)
Definition: submat.h:311
virtual void WorkSpaceDim(integer *piNumRows, integer *piNumCols) const =0
const StructNode * pNode2
Definition: vehj3.h:47
long int integer
Definition: colamd.c:51
const StructNode * pNode1
Definition: vehj3.h:46

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void ElasticJointInv::AssVec ( SubVectorHandler WorkVec)
protectedvirtual

Implements DeformableJoint.

Definition at line 1091 of file vehj3.cc.

References VectorHandler::Add(), DeformableJoint::bFirstRes, Vec3::Cross(), DeformableJoint::d1, DeformableJoint::d2, Eye3, DeformableJoint::F, ConstitutiveLawOwner< T, Tder >::GetF(), StructNode::GetRCurr(), StructNode::GetRRef(), Vec6::GetVec1(), Vec6::GetVec2(), StructDispNode::GetXCurr(), grad::Inv(), MultRV(), Mat3x3::MulTV(), DeformableJoint::pNode1, DeformableJoint::pNode2, DeformableJoint::R1h, RotManip::Rot(), VectorHandler::Sub(), DeformableJoint::tilde_f1, DeformableJoint::tilde_f2, DeformableJoint::tilde_k, DeformableJoint::tilde_R1h, DeformableJoint::tilde_R2h, Mat3x3::Transpose(), ConstitutiveLawOwner< T, Tder >::Update(), and RotManip::VecRot().

1092 {
1093  R1h = pNode1->GetRRef()*tilde_R1h;
1094 
1095  Mat3x3 R2h(pNode2->GetRRef()*tilde_R2h);
1096  Vec3 ThetaCurr = RotManip::VecRot(R1h.Transpose()*R2h);
1097  Mat3x3 tilde_R = RotManip::Rot(ThetaCurr/2.);
1098  Mat3x3 hat_R(R1h*tilde_R);
1099 
1100  Mat3x3 hat_I = hat_R*((Eye3 + tilde_R).Inv()).MulMT(hat_R);
1101 
1102  d1 = pNode1->GetRCurr()*tilde_f1;
1103  d2 = pNode2->GetRCurr()*tilde_f2;
1104  Vec3 d(pNode2->GetXCurr() + d2 - pNode1->GetXCurr() - d1);
1105 
1106  if (bFirstRes) {
1107  bFirstRes = false;
1108 
1109  } else {
1110  tilde_k = Vec6(hat_R.MulTV(d), ThetaCurr);
1111 
1113  }
1114 
1115  F = MultRV(GetF(), R1h);
1116 
1117  Vec3 dCrossF(d.Cross(F.GetVec1()));
1118 
1119  WorkVec.Add(1, F.GetVec1());
1120  WorkVec.Add(4, d1.Cross(F.GetVec1()) + hat_I*dCrossF + F.GetVec2());
1121  WorkVec.Sub(6 + 1, F.GetVec1());
1122  WorkVec.Sub(6 + 4, d2.Cross(F.GetVec1()) - hat_I.MulTV(dCrossF) + F.GetVec2());
1123 }
Vec3 Cross(const Vec3 &v) const
Definition: matvec3.h:218
Vec3 MultRV(const Vec3 &v, const Mat3x3 &R)
Definition: matvec3.cc:1144
virtual const Mat3x3 & GetRRef(void) const
Definition: strnode.h:1006
Definition: matvec3.h:98
Vec6 tilde_k
Definition: vehj3.h:56
const Vec3 & GetVec2(void) const
Definition: matvec6.h:76
virtual const Mat3x3 & GetRCurr(void) const
Definition: strnode.h:1012
Mat3x3 tilde_R2h
Definition: vehj3.h:51
virtual void Sub(integer iRow, const Vec3 &v)
Definition: vh.cc:78
const Mat3x3 Eye3(1., 0., 0., 0., 1., 0., 0., 0., 1.)
Vec3 tilde_f2
Definition: vehj3.h:49
Mat3x3 R1h
Definition: vehj3.h:74
Vec3 VecRot(const Mat3x3 &Phi)
Definition: Rot.cc:136
Vec3 MulTV(const Vec3 &v) const
Definition: matvec3.cc:482
Mat3x3 tilde_R1h
Definition: vehj3.h:50
Definition: matvec6.h:37
const Vec3 & GetVec1(void) const
Definition: matvec6.h:72
Matrix< T, 2, 2 > Inv(const Matrix< T, 2, 2 > &A)
Definition: matvec.h:3282
Mat3x3 Rot(const Vec3 &phi)
Definition: Rot.cc:62
Vec3 tilde_f1
Definition: vehj3.h:48
virtual const Vec3 & GetXCurr(void) const
Definition: strnode.h:310
virtual void Add(integer iRow, const Vec3 &v)
Definition: vh.cc:63
Mat3x3 Transpose(void) const
Definition: matvec3.h:816
const T & GetF(void) const
Definition: constltp.h:293
const StructNode * pNode2
Definition: vehj3.h:47
void Update(const T &Eps, const T &EpsPrime=mb_zero< T >())
Definition: constltp.h:283
const StructNode * pNode1
Definition: vehj3.h:46
bool bFirstRes
Definition: vehj3.h:70

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virtual ConstLawType::Type ElasticJointInv::GetConstLawType ( void  ) const
inlinevirtual

Implements DeformableJoint.

Definition at line 344 of file vehj3.h.

References ConstLawType::ELASTIC.

344  {
345  return ConstLawType::ELASTIC;
346  };
VariableSubMatrixHandler & ElasticJointInv::InitialAssJac ( VariableSubMatrixHandler WorkMat,
const VectorHandler XCurr 
)
virtual

Implements SubjectToInitialAssembly.

Definition at line 1163 of file vehj3.cc.

References AssMats(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), DeformableJoint::pNode1, DeformableJoint::pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetFull().

1165 {
1166  FullSubMatrixHandler& WM = WorkMat.SetFull();
1167 
1168  /* Dimensiona e resetta la matrice di lavoro */
1169  integer iNumRows = 0;
1170  integer iNumCols = 0;
1171  InitialWorkSpaceDim(&iNumRows, &iNumCols);
1172  WM.ResizeReset(iNumRows, iNumCols);
1173 
1174  /* Recupera gli indici */
1175  integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
1176  integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
1177 
1178  /* Setta gli indici della matrice */
1179  for (int iCnt = 1; iCnt <= 6; iCnt++) {
1180  WM.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
1181  WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
1182  WM.PutRowIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
1183  WM.PutColIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
1184  }
1185 
1186  AssMats(WM, WM, 1.);
1187 
1188  return WorkMat;
1189 }
void PutColIndex(integer iSubCol, integer iCol)
Definition: submat.h:325
FullSubMatrixHandler & SetFull(void)
Definition: submat.h:1168
void AssMats(FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef)
Definition: vehj3.cc:1082
virtual integer iGetFirstPositionIndex(void) const
Definition: strnode.h:452
virtual void ResizeReset(integer, integer)
Definition: submat.cc:182
virtual void InitialWorkSpaceDim(integer *piNumRows, integer *piNumCols) const
Definition: vehj3.h:362
void PutRowIndex(integer iSubRow, integer iRow)
Definition: submat.h:311
const StructNode * pNode2
Definition: vehj3.h:47
long int integer
Definition: colamd.c:51
const StructNode * pNode1
Definition: vehj3.h:46

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virtual void ElasticJointInv::InitialWorkSpaceDim ( integer piNumRows,
integer piNumCols 
) const
inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 362 of file vehj3.h.

Referenced by InitialAssJac().

362  {
363  *piNumRows = 12;
364  *piNumCols = 12;
365  };

Member Data Documentation

Mat6x6 ElasticJointInv::FDE
protected

Definition at line 321 of file vehj3.h.

Referenced by AfterPredict(), AssMats(), and ElasticJointInv().

Vec3 ElasticJointInv::ThetaRef
protected

Definition at line 319 of file vehj3.h.

Referenced by AfterPredict().


The documentation for this class was generated from the following files: